Dexterity measures for design and control of manipulators

The authors investigate dexterity measures of a manipulator based on its Jacobian matrix. The goal is to derive dexterity measures which can be used for both design and control of a manipulator. Generally, a dexterity measure must be independent of the scale of a manipulator for design, and must be expressed analytically so that it can be used for real-time control. Every dexterity measure must bear a physical meaning. The measure of manipulability has an analytical expression, but it depends on the scale of a manipulator. On the other hand, the condition number is independent of the scale, but cannot be expressed analytically. These two main problems (scale dependency and analytical expression) of previous dexterity measures derived from the Jacobian matrix are solved and applied in design and control of manipulators. In addition, a dexterity measure called the measure of isotropy is introduced.<<ETX>>

[1]  Richard P. Paul,et al.  Kinematics of Robot Wrists , 1983 .

[2]  Max Donath,et al.  Locating assembly tasks in a manipulator's workspace , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[3]  Roger W. Brockett,et al.  Harmonic maps and the optimal design of mechanisms , 1989, Proceedings of the 28th IEEE Conference on Decision and Control,.

[4]  Tsuneo Yoshikawa,et al.  Manipulability of Robotic Mechanisms , 1985 .

[5]  S. Shankar Sastry,et al.  Optimal Kinematic Design of 6R Manipulators , 1988, Int. J. Robotics Res..

[6]  D. Kohli,et al.  The Jacobian analysis of workspaces of mechanical manipulators , 1987 .

[7]  Charles A. Klein,et al.  Dexterity Measures for the Design and Control of Kinematically Redundant Manipulators , 1987 .

[8]  Charles A. Klein,et al.  Review of pseudoinverse control for use with kinematically redundant manipulators , 1983, IEEE Transactions on Systems, Man, and Cybernetics.

[9]  Anthony A. Maciejewski.  Fault tolerant properties of kinematically redundant manipulators , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[10]  Tsuneo Yoshikawa,et al.  Analysis and Control of Robot Manipulators with Redundancy , 1983 .

[11]  Stephen L. Chiu,et al.  Kinematic characterization of manipulators: an approach to defining optimality , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[12]  John J. Craig,et al.  Articulated hands: Force control and kinematic issues , 1981 .

[13]  Pradeep K. Khosla,et al.  Automatic generation of kinematics for a reconfigurable modular manipulator system , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[14]  Ferdinand Freudenstein,et al.  Kinematic Synthesis of Linkages , 1965 .